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Hello, everyone.
I have an already created .ot file at hand and I want to use rviz and octomap_server to display Octomap on rviz, but I don't know how to use octomap_server.
Can someone teach me how to use Octomap_server? If I may, I'd also like to know how to display octomap on rviz.
Thank you for your help.
To launch octomap_server add the following to your launch file:
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<param name="resolution" value="$(arg map_resolution)" />
<param name="frame_id" type="string" value="map" />
<param name="sensor_model/hit" value="0.8" />
<param name="sensor_model/miss" value="0.3" />
<param name="sensor_model/max_range" value="20.0" />
<param name="occupancy_min_z" value="0.8" />
<param name="occupancy_max_z" value="10.0" />
<param name="pointcloud_min_z" value="0.8" />
<param name="pointcloud_max_z" value="10.0" />
<remap from="cloud_in" to="/depth/points" />
</node>
Here you can find all the parameters, topics and services related to octomap_server, set it to your needs.
Asked: 2020-09-18 05:25:34 -0500
Seen: 509 times
Last updated: Mar 25 '21
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